Sequential Tasks Design

Tasks can be composed sequentially to form longer horizon, more complex tasks using the SequentialTaskBase class. SequentialTaskBase takes a list of TaskBase instances and automatically composes them into a single task. The order of the tasks in the list determines the order in which subtasks must be completed.

Usage Example (Pick and Place Task and Close Door Task Composition)

pick_object = asset_registry.get_asset_by_name("mustard_bottle")()
destination = ObjectReference("refrigerator_shelf", parent_asset=kitchen)
pick_and_place_task = PickAndPlaceTask(pick_object, destination, kitchen)

openable_object = OpenableObjectReference("refrigerator", parent_asset=kitchen, openable_joint_name="fridge_door_joint")
close_door_task = CloseDoorTask(openable_object, closedness_threshold=0.10)

sequential_task = SequentialTaskBase(subtasks=[pick_and_place_task, close_door_task])

Available Examples

• PutAndCloseDoorTask: Pick up and move an object to a destination location and then close a door (within GR1PutAndCloseDoorEnvironment).